EP1197820A3 - Acceleration and deceleration control method - Google Patents

Acceleration and deceleration control method Download PDF

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Publication number
EP1197820A3
EP1197820A3 EP01308633A EP01308633A EP1197820A3 EP 1197820 A3 EP1197820 A3 EP 1197820A3 EP 01308633 A EP01308633 A EP 01308633A EP 01308633 A EP01308633 A EP 01308633A EP 1197820 A3 EP1197820 A3 EP 1197820A3
Authority
EP
European Patent Office
Prior art keywords
acceleration
speed
curve
deceleration
deceleration control
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
EP01308633A
Other languages
German (de)
French (fr)
Other versions
EP1197820A2 (en
EP1197820B1 (en
Inventor
Toshiaki Otsuki
Shouichi FANUC Manshonharimomi Sagara
Kazuhiko Sonobe
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Fanuc Corp
Original Assignee
Fanuc Corp
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Fanuc Corp filed Critical Fanuc Corp
Publication of EP1197820A2 publication Critical patent/EP1197820A2/en
Publication of EP1197820A3 publication Critical patent/EP1197820A3/en
Application granted granted Critical
Publication of EP1197820B1 publication Critical patent/EP1197820B1/en
Anticipated expiration legal-status Critical
Expired - Lifetime legal-status Critical Current

Links

Classifications

    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00—Programme-control systems
    • G05B19/02—Programme-control systems electric
    • G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
    • G05B19/416—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by control of velocity, acceleration or deceleration

Abstract

An acceleration and deceleration control in which, for a relation between speed and acceleration, the low speed part need not be symmetrical with the high speed part, and is performd such that an actual acceleration curve may lie along a restricted acceleration curve as much as possible. A curve representing actual acceleration-speed, corresponding to a time-speed transition to be planned, approaches a restricted acceleration curve. When supplying a movement command which has been subjected to acceleration and deceleration processing to a servo control section, acceleration in the acceleration and deceleration processing is determined such that a speed-acceleration curve of the movement command which has been subjected to acceleration and deceleration processing may lie along a predetermined speed-acceleration curve. The speed-acceleration curve is set for each axis and dependent on acceleration or deceleration, using parameters.
EP01308633A 2000-10-18 2001-10-10 Acceleration and deceleration control method Expired - Lifetime EP1197820B1 (en)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP2000318293A JP3681972B2 (en) 2000-10-18 2000-10-18 Acceleration / deceleration control method
JP2000318293 2000-10-18

Publications (3)

Publication Number Publication Date
EP1197820A2 EP1197820A2 (en) 2002-04-17
EP1197820A3 true EP1197820A3 (en) 2004-01-21
EP1197820B1 EP1197820B1 (en) 2005-12-14

Family

ID=18796939

Family Applications (1)

Application Number Title Priority Date Filing Date
EP01308633A Expired - Lifetime EP1197820B1 (en) 2000-10-18 2001-10-10 Acceleration and deceleration control method

Country Status (4)

Country Link
US (1) US6920363B2 (en)
EP (1) EP1197820B1 (en)
JP (1) JP3681972B2 (en)
DE (1) DE60115800T2 (en)

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Publication number Priority date Publication date Assignee Title
ITVI20010149A1 (en) * 2001-07-04 2003-01-04 Adriano Cazzavillan METHOD TO COORDINATE AND SYNCHRONIZE THE MOVEMENT OF SERVO-ASSISTED AXES
US20040225382A1 (en) * 2003-05-09 2004-11-11 Phil Brown Jerk profile, vector motion control and real time position capture in motion control systems
US6911792B2 (en) 2003-05-20 2005-06-28 Hewlett-Packard Development Company, L.P. System and method for controlling movement
JP3830475B2 (en) * 2003-08-05 2006-10-04 ファナック株式会社 Control device
JP4627740B2 (en) * 2006-04-04 2011-02-09 三菱電機株式会社 Numerical controller
JP4467625B2 (en) * 2008-03-31 2010-05-26 三菱電機株式会社 Numerical control apparatus and numerical control method
JP5155785B2 (en) * 2008-09-09 2013-03-06 富士機械製造株式会社 Operation control method and circuit board working apparatus
CN102799146B (en) * 2012-08-08 2013-08-28 成都乐创自动化技术股份有限公司 Method for planning velocity of S-shaped acceleration and deceleration control for control system of numerical control equipment
JP5803952B2 (en) * 2013-02-15 2015-11-04 株式会社安川電機 Controller, time chart creation device, computer program, information storage medium, device control method, and time chart creation method
US9221175B2 (en) 2013-03-28 2015-12-29 Denso Wave Incorporated Method of generating path of multiaxial robot and control apparatus for the multiaxial robot
US9242376B2 (en) 2013-03-28 2016-01-26 Denso Wave Incorporated Method of generating path of multiaxial robot and control apparatus for the multiaxial robot
JP5800885B2 (en) 2013-12-11 2015-10-28 ファナック株式会社 Parameter adjustment support device having a function to support parameter adjustment
CN103838260B (en) * 2014-03-26 2017-07-11 山信软件股份有限公司 A kind of Asynchronous Motor Driving equipment position control device and method
JP6017513B2 (en) * 2014-11-07 2016-11-02 ファナック株式会社 Motor control device for generating command limited by motor torque
JP6356658B2 (en) 2015-12-25 2018-07-11 ファナック株式会社 Numerical control device with easy press adjustment
CN107850887B (en) * 2015-12-28 2020-06-02 深圳配天智能技术研究院有限公司 S-shaped curve planning method and device and numerical control machine tool
JP6321708B2 (en) * 2016-03-17 2018-05-09 ファナック株式会社 Machine tool system and open / stop position calculation device
JP6404863B2 (en) 2016-06-27 2018-10-17 ファナック株式会社 Numerical control device that dynamically switches the time constant of the acceleration / deceleration filter
CN108958173B (en) * 2018-07-27 2021-07-09 山东大学 S curve acceleration and deceleration planning method based on trapezoidal solution and under any displacement speed
CN111487930B (en) * 2020-04-24 2022-08-05 东莞市精驰软件有限公司 Motion control system, method and device based on symmetric graph replacement technology, machine tool and storage medium
WO2023058153A1 (en) * 2021-10-06 2023-04-13 ファナック株式会社 Numerical control device

Citations (2)

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Publication number Priority date Publication date Assignee Title
US5485065A (en) * 1993-04-01 1996-01-16 Mitsubishi Denki Kabushiki Kaisha Position commanding method and apparatus
WO1999008167A1 (en) * 1997-08-05 1999-02-18 Kabushiki Kaisha Yaskawa Denki Method of generating acceleration/deceleration pattern for industrial robot

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JPS59106007A (en) * 1982-12-10 1984-06-19 Toyota Central Res & Dev Lab Inc Locus control system of multijoint robot
US4843297A (en) * 1984-11-13 1989-06-27 Zycron Systems, Inc. Microprocessor speed controller
US4714867A (en) * 1986-09-30 1987-12-22 Design Components Incorporated Method and apparatus for controlling a stepper motor with a programmable parabolic velocity profile
JP2722286B2 (en) 1991-06-10 1998-03-04 ファナック株式会社 Optimal acceleration / deceleration control method for servo motor
US5331264A (en) * 1993-04-15 1994-07-19 Fanuc Robotics North America, Inc. Method and device for generating an input command for a motion control system
US5708342A (en) * 1993-05-27 1998-01-13 Fanuc Ltd. Method of controlling acceleration/deceleration time constants for robot
JPH0916241A (en) * 1995-06-29 1997-01-17 Fanuc Ltd Method for setting acceleration/deceleration operation of robot
JP3037881B2 (en) * 1995-07-10 2000-05-08 ファナック株式会社 Numerical control unit
JPH10320026A (en) * 1997-05-20 1998-12-04 Mitsubishi Electric Corp Device and method for numerical control
JPH11202925A (en) 1998-01-14 1999-07-30 Makino Milling Mach Co Ltd Method and device for acceleration and deceleration control over feed shaft in numerical control
US5963003A (en) * 1998-04-22 1999-10-05 Allen-Bradley Company, Llc Method and apparatus for asynchronous multi-axis servo path planning
JP3034843B2 (en) * 1998-05-28 2000-04-17 ファナック株式会社 Processing machine control device
JP3538319B2 (en) * 1998-06-04 2004-06-14 オークマ株式会社 Position control device using servo motor
KR100342255B1 (en) * 1999-06-25 2002-06-27 윤종용 motor speed control method for robot

Patent Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5485065A (en) * 1993-04-01 1996-01-16 Mitsubishi Denki Kabushiki Kaisha Position commanding method and apparatus
WO1999008167A1 (en) * 1997-08-05 1999-02-18 Kabushiki Kaisha Yaskawa Denki Method of generating acceleration/deceleration pattern for industrial robot

Non-Patent Citations (1)

* Cited by examiner, † Cited by third party
Title
PATENT ABSTRACTS OF JAPAN vol. 0172, no. 39 (P - 1534) 13 May 1993 (1993-05-13) *

Also Published As

Publication number Publication date
EP1197820A2 (en) 2002-04-17
DE60115800T2 (en) 2006-07-06
US6920363B2 (en) 2005-07-19
JP3681972B2 (en) 2005-08-10
DE60115800D1 (en) 2006-01-19
JP2002132349A (en) 2002-05-10
US20020045957A1 (en) 2002-04-18
EP1197820B1 (en) 2005-12-14

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